/**
 * @file vehicle_model_example.cpp
 * @brief Example demonstrating how to use the vehicle_model ROS2 package
 * @author EPSILON Team
 */

#include "rclcpp/rclcpp.hpp"
#include "vehicle_model/vehicle_model.h"
#include "vehicle_model/idm_model.h"
#include "vehicle_msgs/msg/vehicle_state.hpp"  // Assuming this message exists

class VehicleModelExampleNode : public rclcpp::Node
{
public:
    VehicleModelExampleNode() : Node("vehicle_model_example")
    {
        RCLCPP_INFO(this->get_logger(), "Vehicle Model Example Node Started");
        
        // Initialize vehicle models
        vehicle_model_ = std::make_shared<common::VehicleModel>();
        idm_model_ = std::make_shared<common::IdmModel>();
        
        // Create timer for periodic updates
        timer_ = this->create_wall_timer(
            std::chrono::milliseconds(100),
            std::bind(&VehicleModelExampleNode::timer_callback, this));
            
        RCLCPP_INFO(this->get_logger(), "Vehicle models initialized successfully");
    }

private:
    void timer_callback()
    {
        // Example usage of vehicle models
        // This is a simplified example - actual usage would depend on the specific API
        RCLCPP_DEBUG(this->get_logger(), "Vehicle model simulation step");
        
        // Here you would typically:
        // 1. Get current vehicle state
        // 2. Apply control inputs
        // 3. Update vehicle dynamics
        // 4. Publish updated state
    }

    std::shared_ptr<common::VehicleModel> vehicle_model_;
    std::shared_ptr<common::IdmModel> idm_model_;
    rclcpp::TimerBase::SharedPtr timer_;
};

int main(int argc, char** argv)
{
    rclcpp::init(argc, argv);
    
    try {
        auto node = std::make_shared<VehicleModelExampleNode>();
        rclcpp::spin(node);
    } catch (const std::exception& e) {
        RCLCPP_ERROR(rclcpp::get_logger("vehicle_model_example"), 
                     "Exception caught: %s", e.what());
        return 1;
    }
    
    rclcpp::shutdown();
    return 0;
}